diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index 0d1e914ad39..297c9df13e7 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -88,6 +88,12 @@
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
+//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
+#define INVERT_X_STEP_PIN false
+#define INVERT_Y_STEP_PIN false
+#define INVERT_Z_STEP_PIN false
+#define INVERT_E_STEP_PIN false
+
//default stepper release if idle
#define DEFAULT_STEPPER_DEACTIVE_TIME 60
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 5a24ac44ae4..38c18558742 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -486,18 +486,18 @@ ISR(TIMER1_COMPA_vect)
#if !defined COREXY
counter_x += current_block->steps_x;
if (counter_x > 0) {
- WRITE(X_STEP_PIN, HIGH);
+ WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
- WRITE(X_STEP_PIN, LOW);
+ WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
- WRITE(Y_STEP_PIN, HIGH);
+ WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_y -= current_block->step_event_count;
- count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(Y_STEP_PIN, LOW);
+ count_position[Y_AXIS]+=count_direction[Y_AXIS];
+ WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
#endif
@@ -506,64 +506,64 @@ ISR(TIMER1_COMPA_vect)
counter_y += current_block->steps_y;
if ((counter_x > 0)&&!(counter_y>0)){ //X step only
- WRITE(X_STEP_PIN, HIGH);
- WRITE(Y_STEP_PIN, HIGH);
+ WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+ WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
- WRITE(X_STEP_PIN, LOW);
- WRITE(Y_STEP_PIN, LOW);
+ WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+ WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
if (!(counter_x > 0)&&(counter_y>0)){ //Y step only
- WRITE(X_STEP_PIN, HIGH);
- WRITE(Y_STEP_PIN, HIGH);
+ WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
+ WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(X_STEP_PIN, LOW);
- WRITE(Y_STEP_PIN, LOW);
+ WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
+ WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
if ((counter_x > 0)&&(counter_y>0)){ //step in both axes
if (((out_bits & (1<<X_AXIS)) == 0)^((out_bits & (1<<Y_AXIS)) == 0)){ //X and Y in different directions
- WRITE(Y_STEP_PIN, HIGH);
+ WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_x -= current_block->step_event_count;
- WRITE(Y_STEP_PIN, LOW);
+ WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
step_wait();
count_position[X_AXIS]+=count_direction[X_AXIS];
count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(Y_STEP_PIN, HIGH);
+ WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
counter_y -= current_block->step_event_count;
- WRITE(Y_STEP_PIN, LOW);
+ WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
}
else{ //X and Y in same direction
- WRITE(X_STEP_PIN, HIGH);
+ WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_x -= current_block->step_event_count;
- WRITE(X_STEP_PIN, LOW) ;
+ WRITE(X_STEP_PIN, INVERT_X_STEP_PIN) ;
step_wait();
count_position[X_AXIS]+=count_direction[X_AXIS];
count_position[Y_AXIS]+=count_direction[Y_AXIS];
- WRITE(X_STEP_PIN, HIGH);
+ WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
counter_y -= current_block->step_event_count;
- WRITE(X_STEP_PIN, LOW);
+ WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
}
}
#endif //corexy
counter_z += current_block->steps_z;
if (counter_z > 0) {
- WRITE(Z_STEP_PIN, HIGH);
+ WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS];
- WRITE(Z_STEP_PIN, LOW);
+ WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
- WRITE_E_STEP(HIGH);
+ WRITE_E_STEP(!INVERT_E_STEP_PIN);
counter_e -= current_block->step_event_count;
count_position[E_AXIS]+=count_direction[E_AXIS];
- WRITE_E_STEP(LOW);
+ WRITE(E_STEP_PIN, INVERT_E_STEP_PIN);
}
#endif //!ADVANCE
step_events_completed += 1;
@@ -647,45 +647,45 @@ ISR(TIMER1_COMPA_vect)
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
- WRITE(E0_STEP_PIN, LOW);
+ WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
e_steps[0]++;
- WRITE(E0_STEP_PIN, HIGH);
+ WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
}
else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
e_steps[0]--;
- WRITE(E0_STEP_PIN, HIGH);
+ WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
}
}
#if EXTRUDERS > 1
if (e_steps[1] != 0) {
- WRITE(E1_STEP_PIN, LOW);
+ WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
e_steps[1]++;
- WRITE(E1_STEP_PIN, HIGH);
+ WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
}
else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
e_steps[1]--;
- WRITE(E1_STEP_PIN, HIGH);
+ WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
}
}
#endif
#if EXTRUDERS > 2
if (e_steps[2] != 0) {
- WRITE(E2_STEP_PIN, LOW);
+ WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
e_steps[2]++;
- WRITE(E2_STEP_PIN, HIGH);
+ WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
}
else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
e_steps[2]--;
- WRITE(E2_STEP_PIN, HIGH);
+ WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
}
}
#endif
@@ -790,26 +790,32 @@ void st_init()
//Initialize Step Pins
#if (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN);
+ WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif
#if (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
+ WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif
#if (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN);
+ WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif
#if (E0_STEP_PIN > -1)
SET_OUTPUT(E0_STEP_PIN);
+ WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
#endif
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
SET_OUTPUT(E1_STEP_PIN);
+ WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
#endif
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
SET_OUTPUT(E2_STEP_PIN);
+ WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
#endif